NL2013066B1 - Harvesting device. - Google Patents
Harvesting device. Download PDFInfo
- Publication number
- NL2013066B1 NL2013066B1 NL2013066A NL2013066A NL2013066B1 NL 2013066 B1 NL2013066 B1 NL 2013066B1 NL 2013066 A NL2013066 A NL 2013066A NL 2013066 A NL2013066 A NL 2013066A NL 2013066 B1 NL2013066 B1 NL 2013066B1
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- Netherlands
- Prior art keywords
- target
- cutting portion
- cutting
- harvesting device
- frame
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/24—Devices for picking apples or like fruit
- A01D46/253—Portable motorised fruit pickers
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
A harvesting device for harvesting a target with a peduncle comprises a main frame; a stabilizing apparatus to connect to the target and hold the target in a fixed orientation with respect to the main frame; a cutting device connected to the main frame; and first and second movement systems. The cutting device comprises a first cutting portion and a second cutting portion able to rotate around the target and come together at the peduncle, with the first cutting portion having a knife edge. The first movement system is for rotating at least the second cutting portion around the target so that the second cutting portion rests against the peduncle; and the second movement system is for rotating at least the first cutting portion so that the knife edge cuts through the peduncle.
Description
HARVESTING DEVICE
BACKGROUND
Devices to assist in the harvesting of fruit or vegetables can help to reduce the manual labor involved in the harvesting process. Various devices have been developed for this, and generally include a tool with a long arm and an end tool to perform the functions of gripping the target fruit and separating the target fruit from the tree or plant. Typically, these functions are done with one tool consisting of a set of fingers or suction cups that hold the target fruit. Then, a type of cutter cuts the peduncle of the fruit or stem of the vegetable. An example of such a device can be found in U.S. Pat. No. 7,810,305, which discloses a suction system to steady the fruit, and then a clamshell cutter which closes around the fruit for both halves of the clamshell to meet and sever the fruit from the tree or plant.
In other devices, the gripper, which can be a basket, fingers and/or lips, is used to encircle the target fruit or vegetable and simply twist or pull the fruit or vegetable from the tree or plant. Examples of such devices can be found in JP2002-186332 and FR2530403.
SUMMARY
According to a first aspect of the invention, a harvesting device for harvesting a target with a peduncle comprises a main frame; a stabilizing apparatus to connect to the target and hold the target in a fixed orientation with respect to the main frame; a cutting device connected to the main frame; and first and second movement systems. The cutting device comprises a first cutting portion and a second cutting portion able to rotate around the target and come together at the peduncle, with the first cuttingportion having a knife edge. The first movement system is for rotating at least the second cutting portion around the target so that the second cutting portion rests against the peduncle; and the second movement system is for rotating at least the first cutting portion so that the knife edge cuts through the peduncle.
Such a harvesting device allows for clean and efficient cutting of a peduncle of a target no matter the orientation or position. Such a configuration also helps to minimize risk of damage to other parts of a plant on which the target is growing.
According to an embodiment, the stabilizing apparatus comprises a suction cup.
According to an embodiment, the first movement system comprises a second frame rotatably connected to the main frame, wherein the second cutting portion is coupled to the second frame so that it rotates around the target as the second frame rotates with respect to the main frame. Optionally, the first cutting portion is coupled to the second frame so that it rotates with the second frame. Further optionally, the second frame rotates due to gravitational forces.
According to an embodiment, the second movement system comprises a pneumatic cylinder able to move in a forward direction; and a pivoting movement system to translate the movement of the pneumatic cylinder into rotation of at least the first cutting portion.
According to an embodiment, the second movement system rotates the first cutting portion and the second cutting portion around the target towards each other.
According to an embodiment, the harvesting device further comprises a third movement system connected to the stabilizing apparatus for moving the stabilizing apparatus relative to the main frame. Optionally, the third movement system comprises a pneumatic cylinder connected to the main frame and the stabilizing apparatus. This movement system can help to move the target away from the plant, helping to minimize risk of damage to the plant or other targets during a cutting operation.
According to an embodiment, the harvesting device further comprises a safety system to cover the knife edge of the first cutting portion when it is not cutting through the peduncle.
According to an embodiment, the safety system comprises a tube which rests over the knife edge of the first cutting portion when it is not cutting through the peduncle; and a wire to hold the tube in place when the knife edge is not cutting through the peduncle and to allow for movement away from the knife edge when the knife edge is cutting through the peduncle.
According to an embodiment, the harvesting device further comprises a collection system which collects the target after the peduncle or stem has been cut. Optionally, the collection system comprises a net connected to the second cutting portion. Further optionally, the collection system comprises a tube for transporting the target.
According to a second aspect of the invention, a method of harvesting a target with a peduncle comprises connecting a stabilizing apparatus to the target to hold the target in a fixed position; initiating a first movement system to rotate a second cutting portion of a cutting device around the target so that the second cutting portion rests against the peduncle; and initiating a second movement system for moving at least a first cutting portion of the cutting device so that a knife edge of the first cutting portion cuts through the peduncle.
According to an embodiment, the method further comprises moving the stabilizing apparatus and the target with respect to a main frame after the stabilizing apparatus has connected to the target.
According to an embodiment, the step of initiating a first movement system comprises rotating a second frame coupled to the second cutting portion around a hinge so that the second cutting portion swings around the target and rests against the peduncle.
According to an embodiment, the first cutting portion is coupled to rotate with the second frame and the second cutting portion.
According to an embodiment, the step of initiating a second movement system comprises rotating the first cutting portion and the second cutting portion together using a pneumatic cylinder.
BRIEF DESCRIPTION OF THE DRAWINGS
Fig. la shows a perspective view of a harvesting device in an open position.
Fig. lb shows a side view of the harvesting device of Fig. la.
Fig. lc shows a top view of the harvesting device of Fig. la.
Fig. Id shows a front view of the harvesting device of Fig. la.
Fig. le shows a perspective view of the harvesting device of Fig. la, with a stabilizing device in a retracted position.
Fig. If shows a perspective view of the harvesting device of Fig. la in a partially closed position.
Fig. lg shows a perspective view of the harvesting device of Fig. la in a fully closed position.
Fig. 2a shows a side view of a harvesting device and a target pepper, with the harvesting device connecting to the target.
Figs. 2b-2d show side views of the harvesting device and target pepper, with the harvesting device performing a harvesting operation.
Fig. 3 shows a perspective view of a harvesting device with a collection system.
DETAILED DESCRIPTION
Fig. la shows a perspective view of harvesting device 10 in an open position with stabilizing apparatus 18 extended, Fig. lb shows a side view of harvesting device 10, Fig. lc shows a top view of harvesting device 10, and Fig. Id shows a front view of harvesting device 10. Figs, le-lg show perspective views of harvesting device 10 in different positions for a harvesting operation. Fig. le shows stabilizing device 18 in a retracted position, Fig. If shows cutting device 16 in a partially closed position, and Fig. lg shows cutting device 16 in a fully closed position.
Harvesting device 10 includes main frame 12, hinge connection 13, second frame 14, cutting device 16, stabilizing apparatus 18, and cameras 20a, 20b. Cutting device 16 includes first cutting portion 22, second cutting portion 24, tube 26 covering knife edge 28 (not shown) and wire 30. Second frame includes pneumatic cylinders 32.
In the embodiment shown, stabilizing apparatus 18 is a suction cup. Stabilizing apparatus 18 could be connected to a vacuum system so that once the suction cup is positioned, the vacuum system is turned on and suction force ensures that stabilizing apparatus 18 stays connected to the target. In other embodiments of harvesting device 10, stabilizing apparatus 18 could be another form of stabilizing apparatus, such as a differently sized and/or shaped suction cup or apparatus or an adhesive.
Cutting device 16 is formed of two portions 22, 24, which are rotatable to connect together to slice through a peduncle of a target fruit or stem of a vegetable. First cutting portion 22 includes a knife edge 28 for cutting, and a safety system which includes tube 26 and wire 30. Tube 26 is connected to wire 30, which can connect to cutting device 16 and/or second frame 14 through a connection which allows tube 26 to cover knife edge 28 when knife is not cutting and allows for movement of tube 26 away from knife edge 28 when first cutting portion 22 encounters a peduncle to slice through. This can be, for example, a spring-loaded connection between wire 30 and first cutting portion 22. In non-cutting position, tube 26 rests over knife edge 28, and when a cutting operation starts, tube 26 is pushed away from knife edge 28 to allow knife edge to cut. When cutting is completed, spring-loaded connection moves wire so that tube 26 goes back into place over knife edge 28.
Camera 20a can be a general positioning camera that is able to detect a target fruit or vegetable on a tree or plant. This detection can be used to position harvesting device 10 with respect to the target fruit or vegetable. Camera 20b can be a specific positioning camera that is able to precisely position harvesting device 10 so that stabilizing apparatus 18 is in position to secure to the target fruit or vegetable.
Stabilizing apparatus 18 is connected to main frame 12 via a pneumatic cylinder. This pneumatic cylinder allows for movement of stabilizing apparatus 18 relative to the main frame 12 between an extended position (Fig. la) and a retracted position (Fig. le).
Second frame 14 rotatably connects to main frame 12 at hinge 13. First cutting portion 22 and second cutting portion 24 of cutting device 16 are coupled to second frame 14 to rotate with second frame 14 around hinge 13, as shown in Figs. If and lg. In some embodiments, only second cutting portion 24 is coupled to second frame to rotate with second frame 14.
First cutting portion 22 and second cutting portion 24 of cutting device 16 are further coupled to second frame 14 via pneumatic cylinders 32 and linkage which translate cylinders 32 movements into rotational movement for first cutting portion 22 and/or second cutting portion 24 of cutting device. First cutting portion 22 and second cutting portion 24 can rotate simultaneously so that knife edge 28 meets second cutting portion 24, as shown in Fig. lg. In some embodiments only one of first cutting portion 22 and second cutting portion 24 of cutting device 16 is rotated and/or first cutting portion 22 and second cutting portion 24 are rotated independently of each other.
Figs. 2a-2d show side views of harvesting device 10 and a target pepper 40 during a harvesting operation. Fig. 2a shows harvesting device 10 and a target pepper 40, with stabilizing apparatus 18 in an extended position. Fig. 2b shows harvesting device 10 with stabilizing apparatus 18 connected to target pepper 40 and in a retracted position. Figs. 2c-2d show cutting device in motion to sever peduncle 42 of target pepper 40. Harvesting device 10 and components are numbered the same as in Figs, la-lg. Components are also connected and function in the same manner as in Figs, la-lg·
As discussed in relation to Figs, la-lg, harvesting device can be aligned with target pepper 40 using cameras 20a, 20b. Once aligned, stabilizing apparatus 18 is connected to target pepper 40. In this embodiment, harvesting device 10 is moved so that stabilizing apparatus 18 suction cup is pressed against the outer skin of target pepper 40. Vacuum suction can be activated to further secure target pepper 40 to stabilizing apparatus 18. Thus, stabilizing apparatus 18 is able to securely hold target pepper 40 at a fixed orientation with respect to main frame 12 so that cutting device 16 is able to cut peduncle 42.
Next, as shown in Fig. 2b, stabilizing apparatus 18 is retracted with respect to main frame 12. This pulls target pepper 40 away from the main plant or tree (not shown) on which it is growing. Pulling target pepper 40 away from the main plant (by retracting stabilizing apparatus 18) allows for cutting device 16 to have a minimized risk of encountering and/or damaging other pieces of fruit and/or other parts of the plant during the cutting of the peduncle 42.
As shown in Figs. 2c and 2d, cutting device 16 is then activated. First, second frame 14 swings around hinge 13. First cutting portion 22 and second cutting portion 24 of cutting device 16 are coupled to second frame 14, and move around target pepper 40 with the rotational movement of second frame 14 around hinge 13. This movement causes second cutting portion 24 of cutting device 16 to come into contact with peduncle 42 of target pepper 40, and can help to further push any nearby leaves, stems or other vegetables away from cutting device 16. The motion of second frame 14 can be due to gravity.
Next, as shown in Fig. 2d, pneumatic cylinders 32 and linkage system rotate first cutting portion 22 to slice through peduncle 42. When first cutting portion 22 initially comes into contact with peduncle 42, safety system with wire 30 allows tube 26 (which normally covers knife edge 28) to move outward and upward with respect to knife edge 28. This movement by tube 26 exposes knife edge 28 when it is in a position to cut, allowing it to make a clean slice through peduncle 42 to second cutting portion 24 of cutting device 16. Once knife edge 28 contacts second cutting portion 24 of cutting device 16, the peduncle 42 has been cut, and target pepper 40 is severed from the plant. Harvesting device 10 can then be returned to the initial open position shown in Fig. 2a. Upon separation of first cutting portion 22 and second cutting portion 24 of cutting device 16, tube 26 moves back into a position to cover knife edge 28.
First cutting portion 22 and second cutting portion 24 are able to rotate to meet anywhere peduncle 42 may be located. For example, if the target fruit or vegetable were oriented so that the peduncle 42 was located near the lower portion of the target pepper 40, second frame 14 would only rotate a small amount around hinge 13 before second cutting portion 24 was adjacent to peduncle 42, stopping rotation of second frame 14. Then, first cutting portion 22 would rotate much further to slice peduncle 42 and meet second cutting portion 24.
By forming harvesting device 10 with a stabilizing apparatus 18 to ensure the target pepper 40 is fixed in orientation and position, and with cutting device 16 with two portions 22, 24 and a plurality of movement systems, peduncle 42 can be severed cleanly with little to no damage to the target pepper 40 or the plant no matter the location or orientation of peduncle 42. The plurality of movement systems first move at least the second cutting portion 24 around the target pepper 40 to rest against the peduncle 42, and then move the first cutting portion 22 so that the first cutting portion and the second cutting portion 24 come together. This allows the knife edge 28 to slice cleanly through the peduncle 42 at whatever orientation it may be. Stabilizing apparatus 18 and two portion cutting device 16 with a plurality of movement systems allow for the device to be adaptable to be easily used with a variety of different fruits and vegetables, including those with very thick or non-movable stems or peduncles and/or fruits and vegetables that grow at different orientations.
In past fruit and vegetable harvesting devices, the past harvesting device was typically designed for a particular type of fruit or vegetable, and the position, size, shape and orientation of the peduncle had to be known or determined within a precise range to be able to successfully capture and sever the fruit from the tree or plant. For example, some past harvesters used a plurality of fingers to capture the fruit and then either pulled or twisted the fruit from the plant. In these devices which merely pulled or twisted the fruit off, the fingers had to grab onto the fruit securely, and the severance from the plant was not clean or uniform, promoting the growth of harmful bacteria and/or fungi which could damage the plant. Other past harvesting devices used a scissors type device to cut the peduncle. Thus, the orientation and position of the peduncle had to be determined very accurately to position the scissors device correctly to slice only the peduncle and not damage other parts of the plant. Additionally, it was very difficult to sever the peduncle when it was located in particular orientations, for example, towards a center portion of the plant. A further past harvesting device used a construction which would attempt to orient the target in a certain direction, moving the peduncle to a proper location and orientation for severing. These types of devices were only able to be used with targets with a flexible peduncle, and were prone to damage the plant due to the large reorientation required.
Harvesting device 10 minimizes the risk of damage to other parts of the plant while requiring less accuracy in positioning due to the ability of stabilizing device 18 to connect securely to a relatively large region of the target fruit and then move the target pepper 40 away from the plant for cutting. Additionally, the two portion cutting device 16 with a plurality of movement systems allows both portions 22, 24 of cutting device 16 to swing fully around the target 40 to meet and cleanly slice the peduncle 42 where it is located, without the need to reorient the peduncle. This allows for a more flexible harvesting device 10 that can cut a variety of peduncles 42 and does not have to determine the exact location of the peduncle 42 prior to every cut.
The plurality of movement systems in harvesting device 10 also allows for the cutting of very thick or broad peduncles 42, which may be oriented any way. By using a first movement system to rotate second frame 14 with respect to main frame 12 to position the second cutting portion 24 of cutting device 16 adjacent to peduncle 16, and then using a second movement system to bring first cutting portion 22 and second cutting portion 24 of cutting device 16 together, cutting device 16 is able to cleanly slice through peduncle 42 where it is located. The multiple movement systems allow for a generally perpendicular cut through the peduncle 42 no matter the location or orientation. The clean slice reduces or minimizes damage to the plant in the harvest and thereby reduces the growth of bacteria or other fungi that may grow when a cut is not smooth and clean, for example when the fruit is simply broken off the plant. Additionally, the generally perpendicular cut minimizes the exposed cut area, thus minimizing the area prone to growing bacteria or fungi. The clean cut that harvesting device 10 is able to perform allows the plant to heal faster after the cut, thereby promoting a healthier plant that is able to continue producing fruit in the future.
Safety system using tube 26 and retractable wire 30 protects both the plant in general and any users from the sharp knife edge 28, exposing knife edge 28 only when directly adjacent to peduncle 42 and needed for cutting. This results in the ability to have a sharp knife edge 28 for a clean, smooth cut without risking cutting other parts when first cutting portion 22 of cutting device 16 is not in a cutting position adjacent to peduncle 42.
Due to the shape and size of stabilizing device 18, alignment does not have to be precisely in the center of target pepper 40 allowing for a larger margin of proper alignment than in past systems. Using two portions 22, 24 which are able to rotate fully around target pepper 40 to meet and cut peduncle 42 to form cutting device 16, also enables alignment and cutting with a large tolerance for placement of stabilizing device 18 with respect to pepper 40 and further allows for the easy handling of natural variations in fruits and vegetables.
Fig. 3 shows a side/perspective view of a harvesting device with a net 44 and tube 46. Parts are labeled the same as in Figs. la-2d. Harvesting device 10 shown in Fig. 3 functions to sever pepper 40 from a plant or tree in the same manner as described above in relation to Figs. la-2d. In this embodiment, harvesting device 10 additionally includes a collection system comprising net 44 and tube 46. In other embodiments, collection system could be only a net, only a tube or another type of collection system to collect fruit severed from a plant by harvesting device 10.
Net 44 is connected to and extends from second cutting portion 24 of cutting device 16. Tube 46 connects to and extends from net 44.
Once harvesting device 10 has severed the peduncle 42 of target pepper 40 (see Fig. 2d), pepper 40 is only held by stabilizing device 18. Stabilizing device 18 can then be disconnected from pepper 40, for example, by turning off any vacuum suction. Pepper 40 is then able to fall into net 44, and be transported through tube 46 to another area for collection. Collection system with net 44 and tube 46 provides for collection and transport of pepper 40 with minimal chance of damage due to dropping or falling a distance after severing the peduncle 42. Additionally, this collection system can decrease the cycle time as compared to past systems. Past harvesting devices often had to carry the target fruit or vegetable to a basket before releasing. By using net 44 and/or tube 46, harvesting device 10 can transport cut fruit or vegetable more efficiently, allowing for harvesting device 10 to quickly move on to another target fruit or vegetable.
In summary, harvesting device 10; with a stabilizing apparatus 18, a cutting device 16 with first and second cutting portions 22, 24 and a plurality of movement systems; allows for a clean and safe cut of a variety of fruits or vegetables from a plant no matter the location, orientation and/or size or shape of the peduncle. The two portion cutting device 16 and stabilizing apparatus 18 easily connect to and around a large number of different fruits and vegetables, accommodating natural variations in the fruits or vegetables. The multiple movement systems allows for cutting device 16 to be able to cleanly slice the peduncle 42 no matter the orientation by first moving a second cutting portion 24 to rest against peduncle 42, and then moving first cutting portion 22 to slice through the peduncle 42. Cutting device 16 is able to make a clean, smooth cut generally perpendicular to the peduncle 42, minimizing the cut area prone to the growth of bacteria or fungi. Tube 26 sitting over knife edge 28 and the ability of stabilizing apparatus 18 to retract once connected to the target pepper 40 also minimize or eliminate damage to other pieces of fruit or vegetables and/or the plant in general by cutting device 16.
While target 40 of Figs. 2a-3 is shown as a pepper, target 40 could be any fruit or vegetable, for example, apples, pears, eggplant, avocado, oranges, limes, lemons, etc.
While movement systems are shown using pneumatic cylinders, other embodiments could generate movement using other systems, for example a hydraulic or electro-mechanic drive.
While the invention has been described with reference to exemplary embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (20)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NL2013066A NL2013066B1 (en) | 2014-06-25 | 2014-06-25 | Harvesting device. |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NL2013066A NL2013066B1 (en) | 2014-06-25 | 2014-06-25 | Harvesting device. |
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| Publication Number | Publication Date |
|---|---|
| NL2013066B1 true NL2013066B1 (en) | 2016-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| NL2013066A NL2013066B1 (en) | 2014-06-25 | 2014-06-25 | Harvesting device. |
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| NL (1) | NL2013066B1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020005064A1 (en) | 2018-06-29 | 2020-01-02 | Stichting Wageningen Research | Harvesting device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2072558A (en) * | 1936-02-03 | 1937-03-02 | Hunt Milo | Fruit picker |
| US5005347A (en) * | 1990-01-12 | 1991-04-09 | Du-Kedem Technologies, Ltd. | Fruit picking device |
| US20080010961A1 (en) * | 2006-07-13 | 2008-01-17 | George Gray | Self Propelled Robotic Fresh Picker |
| US20100212279A1 (en) * | 2009-02-26 | 2010-08-26 | Macidull John C | Automated fruit harvesting apparatus |
| US20120255271A1 (en) * | 2010-09-15 | 2012-10-11 | Madani Mohsen | Fruit picking device |
-
2014
- 2014-06-25 NL NL2013066A patent/NL2013066B1/en active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2072558A (en) * | 1936-02-03 | 1937-03-02 | Hunt Milo | Fruit picker |
| US5005347A (en) * | 1990-01-12 | 1991-04-09 | Du-Kedem Technologies, Ltd. | Fruit picking device |
| US20080010961A1 (en) * | 2006-07-13 | 2008-01-17 | George Gray | Self Propelled Robotic Fresh Picker |
| US20100212279A1 (en) * | 2009-02-26 | 2010-08-26 | Macidull John C | Automated fruit harvesting apparatus |
| US20120255271A1 (en) * | 2010-09-15 | 2012-10-11 | Madani Mohsen | Fruit picking device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020005064A1 (en) | 2018-06-29 | 2020-01-02 | Stichting Wageningen Research | Harvesting device |
| NL2021207B1 (en) * | 2018-06-29 | 2020-01-07 | Stichting Wageningen Res | Harvesting device |
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| HC | Change of name(s) of proprietor(s) |
Owner name: STICHTING WAGENINGEN RESEARCH; NL Free format text: DETAILS ASSIGNMENT: CHANGE OF OWNER(S), CHANGE OF OWNER(S) NAME; FORMER OWNER NAME: STICHTING DIENST LANDBOUWKUNDIG ONDERZOEK Effective date: 20170313 |